In response to the recognized need for high throughput biodosimetry methods for use after large scale radiological events, a logical approach is complete automation of standard biodosimetric assays that are currently performed manually. We describe progress to date on the RABIT (Rapid Automated BIodosimetry Tool), designed to score micronuclei or γ-H2AX fluorescence in lymphocytes derived from a single drop of blood from a fingerstick. The RABIT system is designed to be completely automated, from the input of the capillary blood sample into the machine, to the output of a dose estimate. Improvements in throughput are achieved through use of a single drop of blood, optimization of the biological protocols for in-situ analysis in multi-well plates, implementation of robotic plate and liquid handling, and new developments in high-speed imaging. Automating well-established bioassays represents a promising approach to highthroughput radiation biodosimetry, both because high throughputs can be achieved, but also because the time to deployment is potentially much shorter than for a new biological assay. Here we describe the development of each of the individual modules of the RABIT system, and show preliminary data from key modules. Ongoing is system integration, followed by calibration and validation.

No abstract

No abstract

No abstract

We report on the control of semi-antonomons two. wheeled mobile robots undergoing large variations ofthe payload. These robots being underactnated, their control poses some challenges *hen resorting lo a simple controller. The latter being a linear controller, its robustness with respect lo model uncertainty needs to be investigated. To do this, we conducted a time-domain analysis of robustness of the foregoing controller wilh respect lo parametric and nnmodeled dynamics uncertainty. The controller, which is designed by a dominant second-order pole technique, turns out IO be fragile (as opposed to robust) with respect to unmodeled dynamics uncertainty. In order lo cope with this problem, a linear-qnadratic regulator is designed. By numerical simulation we show that the latler features robustness with respect to both types of uncertainty.